Development of power assist on omni-directional mobile wheelchair considering operationality and comfort
نویسندگان
چکیده
Abstract: In this paper, a power assist system of Omni-directional Mobile Wheelchair(OMW) for attendants aiming at the reduction of incidence by operation of attendants is presented. The OMW presented in this paper, has 3 degrees of freedom, so it is important to consider operationality. The control system must be developed considering both operationality and comfort. A Power assist controller using fuzzy reasoning is proposed to estimate the navigation direction for the force given by the attendant, and the necessity of parameter tuning in the membership functions is described according to the individual characteristics. Further, the second order lag controller which transforms the force given by the attendant into the velocity of OMW, is presented to develop the rider’s comfort.
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